Specify The Position Of The Joints (Stat) - Siemens SINUMERIK 840DE sl Function Manual

M1: Kinematics transformation
2.6 Cartesian PTP travel
Note
PTPWOC
It does not make any sense to use PTPWOC in combination with a RCTRA or ROBX
transformation!
Examples
See:
● Example 1: PTP travel of a 6-axis robot with ROBX transformation (Page 111)
● Example 2: PTP travel for generic 5-axis transformation (Page 112)
● Example 3: PTPG0 and TRANSMIT (Page 112)
2.6.3.3

Specify the position of the joints (STAT)

Position data with Cartesian coordinates and specification of the tool orientation are not
sufficient to uniquely identify the machine position, as several joint positions are possible for the
same tool orientation. Depending on the kinematics involved, there can be as many as 8
different joint positions. These different joint positions are transformation-specific.
In an order to avoid any ambiguity, the joint positions are specified under the STAT address.
Note
The control takes into account programmed STAT values only for PTP motions. They are
ignored with CP motions because a change of position is not normally possible while traversing
with an active transformation. When traversing with active CP, the position for the target point
is taken from the starting point.
Syntax
STAT=<Value>
Meaning
STAT:
<Value>:
The use of STAT is to be illustrated by the example of a 6-axis articulated robot with milling
spindle. The kinematic transformation is to be realized using the ROBX robot transformation
(precondition: Compile cycle "RMCC/ROBX Transformation Extended Robotics" is loaded and
active).
104
Adjustable address to specify joint positions
Binary or decimal value
Contains one bit for each possible position. The significance of the bits is defined by the
particular transformation.
Function Manual, 06/2019, A5E47435470B AA
Transformations